define floorplan model
(
	# sombre, sensible, artistic
	color "black"

	# most maps will need a bounding box
	boundary 1
	gui_nose 1
	gui_grid 1
	gui_movemask 0
	gui_outline 0
	fiducial_return 0
	gripper_return 0
)

define obstacle model (
	color	"red"
	size [ 0.20 0.20 0.100 ]

	# insensible to collision and range sensors
	obstacle_return 1
	ranger_return 1	# transparent to range sensors

	fiducial_return 0
)

define square obstacle (
	color	"red"
	size [ 0.20 0.20 0.100 ]

	fiducial_return 3
)

define triangle obstacle (
	color	"red"
	size [ 0.20 0.20 0.100 ]


	# the shape of the plane
	block( 
		points 3
		point[0] [0 0]
		point[1] [0.5 0.86]
		point[2] [1 0]
	)

	fiducial_return 4
)

define circle obstacle (
	color	"red"
	size [ 0.20 0.20 0.100 ]

	fiducial_return 5
)
